This is strange, because it is still transformed like when not using t.setQuaternion(0.0, 0.7071068, 0.7071068, 0.0) - at least it looks like it, when I show it with RunDemo.

When I set t.setQuaternion(0,0,0,1) it's the same output as by not setting it.

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What is the position for each?

I'm not setting any positions so they're all (0|0|0). I checked this also by printing them.

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Do you know what NaN means? It literally stands for Not a Number and normally means there is some problem with your simulation.

Yeah, division by 0 or something like that. The only thing is, that the code I printed was all the code the constructer of my test class consistet of. Ok - I added t also to a Vector, for being able to show it with RunDemo.

I solved why I get all the NaN-values !!! I checked the odejava source and performed the transformations odejava is doing for my problem myself. It's actually only the code of updataCachedTransform in GeomTransform.I wrote this code:

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Quat4fg = newQuat4f(0,0.707f,0.707f,0); // the quaternion of the encapsulated geomMatrix4fmg = newMatrix4f();mg.set(g); //all rotations are transformed into matricesQuat4fb = newQuat4f(0,0,0,1); // the quaternion of the bodyMatrix4fmb = newMatrix4f();mb.set(b);b.mul(g); // for comparing the different results I multiplied the quaternionsmb.mul(mg); // and the matricesSystem.out.println(b); //printing the result of the Quaternion multiplication - the quat result is also transformed into a matrixSystem.out.println();Matrix4fres = newMatrix4f();res.set(b);System.out.println(res);System.out.println("--------------------------------");//printing the result of the Matrix multiplication - the matrix result is also transformed into a quad - this is the way odejava does itQuat4fmres = newQuat4f();mb.get(mres);System.out.println(mres);System.out.println();System.out.println(mb);

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